JPS6048284A - Power gearing structure of robot - Google Patents
Power gearing structure of robotInfo
- Publication number
- JPS6048284A JPS6048284A JP15482183A JP15482183A JPS6048284A JP S6048284 A JPS6048284 A JP S6048284A JP 15482183 A JP15482183 A JP 15482183A JP 15482183 A JP15482183 A JP 15482183A JP S6048284 A JPS6048284 A JP S6048284A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- robot
- pulley
- transmission
- tension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、ロボットの動力伝動に係り、ロボットの構造
を簡単化するため、好適なロボットの動力伝動装置を提
供し、安価なロボットに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to power transmission of a robot, and in order to simplify the structure of the robot, it provides a suitable power transmission device for the robot and relates to an inexpensive robot.
従来のロボットを第１図及び第２図により説明する。■
は本体、３は第１腕、４は第２腕、１０は第２腕回転軸
、７は第１段原動ブーＩＪ−１８は第１段従動プーリー
であり、第２段原動ブーＩＪ−９と同回転軸６に配置さ
れており、又】１は第２段従動プーリーであり、第２腕
４と第２回転軸１０に一体に配置され、第１段及び第２
段プーリーを伝動ベルト１３を介して伝動的に連結され
ている０
従来のロボットでは、伝動ベルト１３の張力を適正に調
整するためにテンショナープーリー１２、又はアイドラ
ープーリーのいづれかもしくは両方同時に使用していた
ので、伝動装置の構造が複雑になる欠点があり１合せて
、テンショナープーリー１２及びアイドラープーリーと
伝動ベルト１３が接触する部で伝動ベルト１３の摩耗が
はげしく、更に極度に屈曲されるため、繰り返り屈曲を
受けで、伝動ベルト１３の寿命が約１／２になる欠点が
あった。A conventional robot will be explained with reference to FIGS. 1 and 2. ■
3 is the main body, 3 is the first arm, 4 is the second arm, 10 is the second arm rotation axis, 7 is the first stage driving boot IJ-18 is the first stage driven pulley, and the second stage driving boo IJ-9 1 is a second-stage driven pulley, which is disposed integrally with the second arm 4 and the second rotation shaft 10, and
Conventional robots in which the stage pulleys are connected to each other through a transmission belt 13 use either the tensioner pulley 12 or the idler pulley, or both at the same time, to adjust the tension of the transmission belt 13 appropriately. This has the drawback that the structure of the transmission device becomes complicated.In addition, the transmission belt 13 is subject to severe wear at the parts where the tensioner pulley 12 and idler pulley contact the transmission belt 13, and is also extremely bent, so it is repeatedly damaged. There is a drawback that the life of the transmission belt 13 is reduced to about 1/2 due to bending.
一方、他の従来のロボットでは、伝動ベルト１３の長さ
及び張力を調整するため、有継目の歯付ベルト１３の両
端のベルト歯の２〜３山引掛けて、締付は固定した張力
調整器１６を使用して、有継目伝動ベルトを輪状に形成
すると同時にベルトの張力を適正に調整する構造を採っ
ていたので、伝動装置が複雑で高価になる欠点があり、
かつ伝動ベルト１３の張力調整器１６が伝動プーリーに
接触しない様にするので伝動ベルトの動作を制限させる
欠点があった。On the other hand, in other conventional robots, in order to adjust the length and tension of the transmission belt 13, the belt is hooked onto two or three ridges of belt teeth at both ends of the jointed toothed belt 13, and the tension is adjusted with a fixed tension. This method uses a device 16 to form a jointed power transmission belt into a ring shape and at the same time properly adjusts the tension of the belt, which has the disadvantage of making the transmission device complicated and expensive.
Furthermore, since the tension adjuster 16 of the transmission belt 13 is prevented from coming into contact with the transmission pulley, there is a drawback that the operation of the transmission belt is restricted.
本発明の目的は、ロボットの動力伝動装置の構造を簡略
化して、安価なロボットを提供することにある。An object of the present invention is to simplify the structure of a power transmission device of a robot and provide an inexpensive robot.
本発明は、ロボットの動力伝動する伝動ベルトの張力を
適正に調整するために使用されていたテンショナープー
リー１２又は張力調整器１６を除去し、中間回転軸６及
び係る軸と一体の伝動プーリーを摺動し、更に駆動モー
ター５及び該モーターの軸と一体の原動プーリー７を摺
動させて、原動軸及び従動軸の軸間距離を調整すること
により伝動ベルト１３の張力を適正に調整することが出
来、伝動装置の構造を簡略化し、コスト低減を図る。The present invention eliminates the tensioner pulley 12 or tension adjuster 16 that was used to appropriately adjust the tension of the transmission belt that transmits the power of the robot, and slides the intermediate rotating shaft 6 and the transmission pulley integrated with the shaft. The tension of the transmission belt 13 can be appropriately adjusted by sliding the drive motor 5 and the drive pulley 7 integrated with the shaft of the motor to adjust the distance between the drive shaft and the driven shaft. The structure of the transmission device can be simplified and costs can be reduced.
以下、本発明の一実施例を第３図及び第４図により説明
する。１は本体、３は本体に載設された第１腕、５は第
１腕に内蔵した第２腕駆動モーターで、軸に原動プーリ
ー７を固定している。又、６は中間回転軸で第１段従動
プーリー８及び第２段原動プーリー９を配置してあり、
１０は第２腕回転軸で第２腕４及び第２段従動プーリー
１１を固定し、原動プーリー７と第１段従動プーリー８
を伝動ベルｌ−１，３ａを介して連結し、第２段原動プ
ーリー９と第２段従動プーリー１１を伝動ベルト１３ｂ
を介して連結し、これら回転軸、原・従動プーリー及び
伝動ベルトなどが動力伝動装置を構成している。An embodiment of the present invention will be described below with reference to FIGS. 3 and 4. 1 is a main body, 3 is a first arm mounted on the main body, 5 is a second arm drive motor built into the first arm, and a drive pulley 7 is fixed to the shaft. Further, 6 is an intermediate rotating shaft on which a first stage driven pulley 8 and a second stage driving pulley 9 are arranged.
10 is a second arm rotation shaft that fixes the second arm 4 and the second stage driven pulley 11, and the driving pulley 7 and the first stage driven pulley 8.
are connected via transmission belts l-1 and 3a, and the second stage driving pulley 9 and second stage driven pulley 11 are connected to the transmission belt 13b.
These rotating shafts, original/driven pulleys, transmission belts, etc. constitute a power transmission device.
この様に構成するロボットにおいて、第２腕駆動モータ
ー５を運転すると動力は原動プーリー７より２段の伝動
ベルト１３を介して、従動プーリー１１、第２腕回転軸
１０を駆動して、第２腕４を動作させる。In the robot configured in this way, when the second arm drive motor 5 is operated, the power is transmitted from the driving pulley 7 via the two-stage transmission belt 13 to drive the driven pulley 11 and the second arm rotation shaft 10, and the second arm drive motor 5 is operated. Move arm 4.
本実施例のロボットによれば、第２腕回転軸１０と伝動
ベル） ］、 ３ ｂを介して連結する第２腕中間回転
軸６及び該中間回転軸６に配置した第２段原動プーリー
９を第２腕４に一体成型して設けた補強リブを兼ねたガ
イドレール１７に沿って摺動させ、前記第２腕回転軸１
０と第２腕中間軸６の軸間距離を変化させて、該伝動ベ
ル） １３ｂの張りを強弱させることができ、所定の張
力を得た後。According to the robot of the present embodiment, the second arm intermediate rotation shaft 6 is connected to the second arm rotation shaft 10 via the transmission bell ), and the second stage driving pulley 9 is disposed on the intermediate rotation shaft 6. The second arm rotation shaft 1 is slid along a guide rail 17 that also serves as a reinforcing rib that is integrally molded on the second arm 4.
By changing the distance between the transmission bell 13b and the second arm intermediate shaft 6, the tension of the transmission bell 13b can be increased or decreased, and after a predetermined tension is obtained.
該中間軸６を固定する。同様に、第２腕中間軸６に固定
された第１段従動プーリー８と伝動ベルト１３ａを介し
て連結する第１段原動プーリー７及びこれと一体の第２
腕駆動モーター５を第２腕４に一体成型して形成した。The intermediate shaft 6 is fixed. Similarly, the first stage driven pulley 8 fixed to the second arm intermediate shaft 6 is connected to the first stage driving pulley 7 via the transmission belt 13a, and the second stage driving pulley 7 is connected to the first stage driven pulley 8 fixed to the second arm intermediate shaft 6.
The arm drive motor 5 is formed by integrally molding the second arm 4.
補強リブを兼備したガイドレール１７に沿って、摺動さ
せ、第２腕中間ｍ６と第２腕駆動モーター５の軸との軸
間距離を変化させ、伝動ベル）］、３ａの張状態及び張
力を調整出来るため、従来例に見られたテンショナープ
ーリー１２、又は複雑な張力調整器１６など全く必要と
しないで、伝動装置を構成できるので、伝動装置を簡略
化でき安価なロボットを構成できる効果がある。The transmission bell) is slid along the guide rail 17, which also has a reinforcing rib, and the distance between the second arm intermediate m6 and the axis of the second arm drive motor 5 is changed, and the tension state and tension of the transmission bell 3a is adjusted. can be adjusted, so the transmission device can be constructed without the need for the tensioner pulley 12 or complicated tension adjuster 16 seen in the conventional example, so the transmission device can be simplified and an inexpensive robot can be constructed. be.
本発明によれば、従動プーリー及び該従動プーリーを固
定する回転軸と伝動ベルトを介して連結される従動プー
リー及び該従動プーリーを固定する駆動軸をロボット腕
に配置したガイドレールに沿って摺動して、前記径、駆
動回転軸の軸間距離を変化させ、伝動ベルトの適正張力
を調整する構造にしたので、特別伝動ベルトの張力を調
整するためのテンショナープーリーや伝動ベルト張力調
整器を必要としないので、伝動装置を簡略化出来、ロボ
ット全体を安価に構成出来る効果がある。According to the present invention, a driven pulley, a rotating shaft that fixes the driven pulley, and a driven pulley connected via a transmission belt, and a drive shaft that fixes the driven pulley slide along a guide rail arranged on a robot arm. As a result, the diameter and the distance between the drive rotating shafts are changed to adjust the appropriate tension of the transmission belt, so a special tensioner pulley or transmission belt tension adjuster is required to adjust the tension of the transmission belt. Therefore, the transmission device can be simplified and the entire robot can be constructed at low cost.
第１図は従来のロボットの側断面図、第２図は第１図に
おけるロボットの拡大概略図、第３図は本発明の実施例
であるロボットの側断面図、第４図は第３図の拡大概略
説明図である。
］・・・本体、２・・・第１腕回転軸、３・・・第１腕
、４・・・第２腕、５・・・第２腕駆動モーター、６・
・・第２腕中間軸、、７・・・第１段原動プーリー、８
・・・第１段従動プーリー、９・・・第２段原動プーリ
ー、１０・・・第２腕回転軸、１１・・・第２段従動プ
ーリー、１２・・・テンショナープーリー、１３・・・
伝動ヘルド、１４・・・第３腕、１５・・・工具把持軸
、１６・・・ベルト張力調整器、１７・・・ガイドレー
ル。
代理人弁理士 高 橋 明 夫FIG. 1 is a side sectional view of a conventional robot, FIG. 2 is an enlarged schematic diagram of the robot in FIG. 1, FIG. 3 is a side sectional view of a robot according to an embodiment of the present invention, and FIG. FIG. 2 is an enlarged schematic explanatory diagram. ]... Main body, 2... First arm rotation axis, 3... First arm, 4... Second arm, 5... Second arm drive motor, 6...
...Second arm intermediate shaft, 7...First stage driving pulley, 8
... 1st stage driven pulley, 9... 2nd stage driving pulley, 10... 2nd arm rotation shaft, 11... 2nd stage driven pulley, 12... Tensioner pulley, 13...
Transmission heald, 14... Third arm, 15... Tool gripping shaft, 16... Belt tension adjuster, 17... Guide rail. Representative Patent Attorney Akio Takahashi
Claims (1)
原動ブーＵ−（７）の動力を腕回転軸に配置した従動ブ
ーＩＪ７（１１）に１段もしくは多段に伝動ベル１−（
１，３）を介して伝動するロボットに於いて、該伝動ヘ
ル）（１３）の張力を中間回転軸（６）及び駆動モータ
ー軸（５）を摺動させることにより調整可能にしたこと
を特徴とするロボットの動力伝動装置構造。 ２、一体に成型して形成するロボットの腕（３）に設け
る補強リブに回転軸（６）及び駆動モーター（５）摺動
ガイドを兼備した、前記腕（３）に摺動ガイドレール（
１７）を一体成型して設けたことを特徴とする特許請求
の範囲第１項記載ノロボットの動力伝動装置構造。[Claims] 1. Transmission of the power of the driving boob U-(7) placed on the axis of the robot's arm drive motor (5) to the driven boob IJ7 (11) placed on the arm rotation axis in one or multiple stages. Bell 1-(
1, 3), the tension of the transmission gear (13) can be adjusted by sliding the intermediate rotating shaft (6) and the drive motor shaft (5). The power transmission structure of the robot. 2. A reinforcing rib provided on the arm (3) of the robot that is integrally molded has a rotating shaft (6) and a driving motor (5) as well as a sliding guide, and the arm (3) is equipped with a sliding guide rail (
17) A power transmission device structure for a robot according to claim 1, characterized in that the robot power transmission device is provided by integrally molding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15482183A JPS6048284A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15482183A JPS6048284A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6048284A true JPS6048284A (en) | 1985-03-15 |
Family
ID=15592606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15482183A Pending JPS6048284A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6048284A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315176A (en) * | 2006-08-28 | 2006-11-24 | Toshiba Mach Co Ltd | Robot arm |
| JP2013006238A (en) * | 2011-06-24 | 2013-01-10 | Seiko Epson Corp | Horizontal articulated robot |
| CN103240732A (en) * | 2012-02-01 | 2013-08-14 | 株式会社安川电机 | Robot |
| WO2018105584A1 (en) * | 2016-12-07 | 2018-06-14 | 株式会社神戸製鋼所 | Industrial robot |
-
1983
- 1983-08-26 JP JP15482183A patent/JPS6048284A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315176A (en) * | 2006-08-28 | 2006-11-24 | Toshiba Mach Co Ltd | Robot arm |
| JP2013006238A (en) * | 2011-06-24 | 2013-01-10 | Seiko Epson Corp | Horizontal articulated robot |
| CN103240732A (en) * | 2012-02-01 | 2013-08-14 | 株式会社安川电机 | Robot |
| JP2013158848A (en) * | 2012-02-01 | 2013-08-19 | Yaskawa Electric Corp | Robot |
| US9028197B2 (en) | 2012-02-01 | 2015-05-12 | Kabushiki Kaisha Yaskawa Denki | Robot with plurality of belts and intermediate pulley |
| WO2018105584A1 (en) * | 2016-12-07 | 2018-06-14 | 株式会社神戸製鋼所 | Industrial robot |
| JP2018089766A (en) * | 2016-12-07 | 2018-06-14 | 株式会社神戸製鋼所 | Industrial robot |
| CN110072674A (en) * | 2016-12-07 | 2019-07-30 | 株式会社神户制钢所 | Industrial robot |
| US10836053B2 (en) | 2016-12-07 | 2020-11-17 | Kobe Steel, Ltd. | Industrial robot |
| CN110072674B (en) * | 2016-12-07 | 2022-05-13 | 株式会社神户制钢所 | Industrial robot |
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